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ColladaExporter, export submesh selected #802

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merged 6 commits into from
May 17, 2021
Merged

ColladaExporter, export submesh selected #802

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149538b
Export only submesh if selected
Blast545 May 3, 2021
3e971e6
Add test case for the PR
Blast545 May 3, 2021
0c037d4
Fix linter
Blast545 May 3, 2021
415723f
Merge branch 'ign-gazebo5' into blast545/colladaExporterExportSubmesh
Blast545 May 11, 2021
de509ee
Merge branch 'ign-gazebo5' into blast545/colladaExporterExportSubmesh
Blast545 May 12, 2021
8ef2d39
Attempting a unified solution
May 14, 2021
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80 changes: 47 additions & 33 deletions src/systems/collada_world_exporter/ColladaWorldExporter.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -112,12 +112,27 @@ class ignition::gazebo::systems::ColladaWorldExporterPrivate
ignition::common::MeshManager *meshManager =
ignition::common::MeshManager::Instance();

auto addSubmeshFunc = [&](int i, int k) {
subm = worldMesh.AddSubMesh(
*mesh->SubMeshByIndex(k).lock().get());
subm.lock()->SetMaterialIndex(i);
subm.lock()->Scale(scale);
subMeshMatrix.push_back(matrix);
auto addSubmeshFunc = [&](int _matIndex)
{
int newMatIndex = 0;
if (_matIndex != -1)
{
newMatIndex = worldMesh.IndexOfMaterial(
mesh->MaterialByIndex(_matIndex).get());
if (_matIndex < 0)
{
newMatIndex = worldMesh.AddMaterial(
mesh->MaterialByIndex(_matIndex));
}
}
else
{
newMatIndex = worldMesh.AddMaterial(mat);
}

subm.lock()->SetMaterialIndex(newMatIndex);
subm.lock()->Scale(scale);
subMeshMatrix.push_back(matrix);
};

if (_geom->Data().Type() == sdf::GeometryType::BOX)
Expand All @@ -126,9 +141,10 @@ class ignition::gazebo::systems::ColladaWorldExporterPrivate
{
mesh = meshManager->MeshByName("unit_box");
scale = _geom->Data().BoxShape()->Size();
int i = worldMesh.AddMaterial(mat);
subm = worldMesh.AddSubMesh(
*mesh->SubMeshByIndex(0).lock().get());

addSubmeshFunc(i, 0);
addSubmeshFunc(-1);
}
}
else if (_geom->Data().Type() == sdf::GeometryType::CYLINDER)
Expand All @@ -139,10 +155,10 @@ class ignition::gazebo::systems::ColladaWorldExporterPrivate
scale.X() = _geom->Data().CylinderShape()->Radius() * 2;
scale.Y() = scale.X();
scale.Z() = _geom->Data().CylinderShape()->Length();
subm = worldMesh.AddSubMesh(
*mesh->SubMeshByIndex(0).lock().get());

int i = worldMesh.AddMaterial(mat);

addSubmeshFunc(i, 0);
addSubmeshFunc(-1);
}
}
else if (_geom->Data().Type() == sdf::GeometryType::PLANE)
Expand All @@ -164,9 +180,10 @@ class ignition::gazebo::systems::ColladaWorldExporterPrivate
worldPose.Rot() = worldPose.Rot() * normalRot;

matrix = math::Matrix4d(worldPose);
subm = worldMesh.AddSubMesh(
*mesh->SubMeshByIndex(0).lock().get());

int i = worldMesh.AddMaterial(mat);
addSubmeshFunc(i, 0);
addSubmeshFunc(-1);
}
}
else if (_geom->Data().Type() == sdf::GeometryType::SPHERE)
Expand All @@ -179,8 +196,10 @@ class ignition::gazebo::systems::ColladaWorldExporterPrivate
scale.Y() = scale.X();
scale.Z() = scale.X();

int i = worldMesh.AddMaterial(mat);
addSubmeshFunc(i, 0);
subm = worldMesh.AddSubMesh(
*mesh->SubMeshByIndex(0).lock().get());

addSubmeshFunc(-1);
}
}
else if (_geom->Data().Type() == sdf::GeometryType::MESH)
Expand All @@ -200,27 +219,22 @@ class ignition::gazebo::systems::ColladaWorldExporterPrivate
return true;
}

for (unsigned int k = 0; k < mesh->SubMeshCount(); k++)
const auto subMeshName = _geom->Data().MeshShape()->Submesh();
scale = _geom->Data().MeshShape()->Scale();
if(subMeshName == "")
{
auto subMeshLock = mesh->SubMeshByIndex(k).lock();
int j = subMeshLock->MaterialIndex();

int i = 0;
if (j != -1)
for (unsigned int k = 0; k < mesh->SubMeshCount(); k++)
{
i = worldMesh.IndexOfMaterial(mesh->MaterialByIndex(j).get());
if (i < 0)
{
i = worldMesh.AddMaterial(mesh->MaterialByIndex(j));
}
auto subMeshLock = mesh->SubMeshByIndex(k).lock();
subm = worldMesh.AddSubMesh(*subMeshLock.get());
addSubmeshFunc(subMeshLock->MaterialIndex());
}
else
{
i = worldMesh.AddMaterial(mat);
}

scale = _geom->Data().MeshShape()->Scale();
addSubmeshFunc(i, k);
}
else
{
auto subMeshLock = mesh->SubMeshByName(subMeshName).lock();
subm = worldMesh.AddSubMesh(*subMeshLock.get());
addSubmeshFunc(subMeshLock->MaterialIndex());
}
}
else
Expand Down
11 changes: 11 additions & 0 deletions test/integration/collada_world_exporter.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,11 @@

#include <gtest/gtest.h>

#include <ignition/common/ColladaLoader.hh>
#include <ignition/common/Console.hh>
#include <ignition/common/Filesystem.hh>
#include <ignition/common/Mesh.hh>
#include <ignition/common/SubMesh.hh>

#include "ignition/gazebo/Server.hh"
#include "ignition/gazebo/test_config.hh"
Expand Down Expand Up @@ -95,6 +98,14 @@ TEST_F(ColladaWorldExporterFixture, ExportWorldFromFuelWithSubmesh)
// The export directory should now exist.
EXPECT_TRUE(common::exists(outputPath));

// Original .dae file has two submeshes
// .sdf loads them together and a submesh alone
// Check that output has three nodes
common::ColladaLoader loader;
const common::Mesh *meshExported = loader.Load(common::joinPaths(
outputPath, "meshes", "collada_world_exporter_submesh_test.dae"));
EXPECT_EQ(3u, meshExported->SubMeshCount());

// Cleanup
common::removeAll(outputPath);
}
Expand Down
11 changes: 11 additions & 0 deletions test/worlds/models/mesh_with_submeshes/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,17 @@
<model name='scheme_resource_uri'>
<pose>0 0 1 0 0 0</pose>
<link name='the_link'>
<visual name='visual_submesh'>
<geometry>
<mesh>
<uri>model://mesh_with_submeshes/meshes/mesh_with_submeshes.dae</uri>
<submesh>
<name>node_0</name>
<center>false</center>
</submesh>
</mesh>
</geometry>
</visual>
<visual name='the_visual'>
<geometry>
<mesh>
Expand Down